SegwayRMP

Demo Video

Simulation.Demo.mp4

Package Overview

This repository provides a ROS interface to Segway Robotics Mobility Platforms (RMPs). It consists of several packages:

• rmp_base – controls the base and publishes sensor data and status information
• rmp_teleop – joystick interface for controlling the base
• rmp_description – URDF description of the platform(s)
• rmp_msgs – custom messages for RMP communication

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Clone the repo

git clone https://github.com/AV-Lab/AVL_segwayrmp/

Install dependencies

rosdep install --from-paths src --ignore-src -r -y

Build & source the workspace

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Launch the vehicle

Communication in the vehicle

roslaunch rmp_base rmp440le.launch 

cmd value smoothers

roslaunch cmd_vel_smoother cmd_vel_smoother.launch 
#roslaunch yocs_velocity_smoother standalone.launch # testing this smoother

Control with joystick

roslaunch rmp_teleop joystick.launch 

Launch the sensors (Camera, 2D lidar, 3D lidar)

roslaunch segway_sensors zed2.launch
roslaunch segway_sensors urg_lidar.launch 
roslaunch segway_sensors VLP16_points.launch

Navigation

launch amcl and move base

roslaunch segway_navigation navigation.launch 

global cost map server

roslaunch segway_navigation start_map_server.launch

Launch gmapping if needed

roslaunch segway_navigation gmapping_demo.launch

Services

Run services

python run_services.py 1 0 0

Unloader service

python unloader_service.py 

Vocaliser service

python vocaliser_service.py 

Additional Useful commands

rosbag record

rosbag record /velodyne_points /zed2/zed_node/right/image_rect_color /zed2/zed_node/imu/data

save map

rosrun map_server map_saver -f mymap

view frames

rosrun tf view_frames
or
rosrun tf2_tools view_frames.py

usb perm

sudo chmod a+rw /dev/ttyACM0 

echo clicked points

rostopic echo /clicked_point